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Quadcopter GIS for less than 700 - Hardware and software to map your local community

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of whom I I think of myself and coming from the
computer science side of things 1st and then kind of the environmental science side of things seconds from and my goal and my work life is a kind of bridge the gap between this to my main job is I work for Noah and as a contractor and doing oil-spill response is stuff but again this has nothing to do with what you can see the kind of a hacking project but that's a little bit about me I also from fanatical mountain biker have 2 kids and live the so how did we get here how did I don't get out here in front of you it really actually David gene can you raise your hand I think you're in here is that the areas iceman but we we run out of of Open Source GIS group out of Seattle code to those very very active group did Sheehan is from the you . he came in gave a talk I am the cave type of person that I like I'm attracted the shiny objects and he showed in a couple of slides like what you're seeing here is like what the heck he's up an airplane with the SLR camera taking pictures of Mount St. Helens and coming home and spinning these like 3 D models around where there's images up in the air and I was like that is crazy crazy stuff so that was like kind of my introduction to this whole concept of the structure from motion and I can have the process and then it comes as has a came from the Mainland acts of these quadcopters on their back in there like showing us all this stuff and they were flying around big ones and little ones in this little room with us and I within like 7 days I had 1 delivered from Amazon it to my house was really really cool another shiny object and and you know I I passed it after my life as well be really cool I can take pictures of my kids on by successor like this is actually a snapshot of a video of like using shadow the quadcopter and taking pictures of a bite sister but really what I want to do is play with the stuff I want to figure out the stuff that they're genes doing structure from motion and I want a flight quadcopter cause I think that's kind of amazing the interesting thing is this is their convergence of right now is that this convergence of the technology and capability with some of this stuff just going on consumer so you know what used to be thousands of dollars before now you can order on Amazon literally for 450 box and you can have 1 of these delivered your house by tomorrow and I imagine a few people probably will and this 1 in particular its call that c 40 it's from a company called a DG DJI and it's called the phantom it comes with a little camera a little 720 p and a video camera now so I 1st started with the try to take imagery with that turns as not activated can takes really good pictures of my son doing his bike stuff but when 1 actually do anything real and it doesn't really quite cut it so what I did is I just looked for a cheap inexpensive 16 15 16 megapixel camera so that I could strap onto this thing that was a canon that I could happen with the CU-HTK firmware and so this is the camera that came up with there's lots of you know people oppose different cameras that they've used it's a lightweight camera 16 megapixels works through all this stuff is up here you can see in the future so now we're up to 580 dollars or so see decays sweet even the reason you want the firm once the things up in the air you wanna be taking pictures so I basically you can happen interval on the end of their so I can set it to like every 2 seconds or 3 seconds 5 seconds to be taking pictures to years of already go pick go it's taking pictures every 3 seconds and that your flight gather imagery you also deftly once a prop guards his here right and a lot several demo that later outside and then of an extra battery for sure these batteries really you know that there's a newer versions of the phantom that's 1 of the reasons the price and this 1 is so low but and realistically you get about 10 minutes for battery and you're going to go out and do what I'm trying to do which is kind of map or small town so you need at least 2 or 3 batteries to do that so and then so again I had to hack it with a camera mounted on the bottom to put the extra camera on there and and you can come see that as what the government so this is what you end up with is basically a forward-facing first-person view capable camera the nerve cell phone input to the little forward-facing once you get a real-time 1st person view where flying within the downward facing 1 is what I'm interested in a school in actually capturing the images so why is this interesting now well it's it's phenomenal cheap it's super easy the flight like scary easy to fly that's my nine-year-old daughter collecting images like it's really easy to fly because GPS enabled it locks on the satellite to fire the thing out you put up in the air and you just let go the controls and it will stay there is wind blows off to the side it it reader and corrects for itself is amazing so breezy use and they are fun they're really fun little scary and from some of the wonder of units networking but anyway by map what's posted a really cool map which is 1 tile and it as long as you're in for it works really good for and anyway and basically you know I
might address the legality of any of us right because who knows words Leon who were sigh you can't flying airports to get by National Parks guess stable 400 feet I'm like I'm good I live on a little island where none of that matters so I go fly but if you want to do the legality of check out the map it's pretty cool they intersect all of those known no-fly zones and the and then you know people like FAA post things like this it's like well you are you a model aircraft are you a drone are you every came like classify what you're actually doing important thing is it's it's kind of a no no to do it for commercial stuff so I'm not doing anything commercially understand this as a hobby and you kind of do fall under this model aircraft thing this is a list of users but the way will really therefore is like what can you actually do this thing because it's it's cheap and anyone can go do it and I'm interested in my local community how I can help my local community do some mapping and actually do something useful so this is a story that Langley Washington is basically just north of Seattle young alignment by thousand people about a square mile for the towns it's perfect little test that I can go up there fly it turns out they did a reconstruction of 2nd Street that means street going horizontally there from over the summer so we have a project that just happened in places like Google Maps don't have it yet OK such a perfect test case for let's go out and see if we can gather some imagery and do some stuff to help the city of the 1st 1 is can we just come up with some sort of stitch images that I went out and this is just like a week ago I I like to fly super early in the morning so there's no 1 around there's no cars there's no anything so I went out collected about 200 images to flights but 10 minutes each and taking images every 3 seconds you'll see the flight path here in 2nd that this is what you get you know for a single image and and then basically used to our options are again I at this and not an exhaustive search of all the different options to do stuff and I would love to hear other people's experience and how to do stitching three-dimensional modeling all that stuff but the 2 that I am came into that were easy and actually work I tried you again in a bunch of these other ones someone didn't work ice it's uh Microsoft's thing that was I think out of the whole photos sent a workflow early on it's not open source but it's free to use any does an amazing job just don't pictures in a directory pointed to it it's together and actually looks pretty good and so this is an example of a sketch of some of the selected images of base that took 1 elevation were rose flying 1 uh passed down and back in stitches together looks pretty darn good and the other is what we'll see later is this that a program called photo scanned from a company called AES off which is not free but it is mind-blowing what it can do so this is kind giving away some of the 3 stuff in the future but what are the other things it can do is to stitching from this model that generates and this stitch is absolutely breathtaking you can dive all the way down to like you know pixels on that car that's on the street and it's it's pretty amazing so I had pretty good success scanning a stitch and and to be honest with the people of the city are alike the flabbergasted because they just did this project they have no kind of evidence they wanna go to conferences and talk about you know the walkability the city on stuff and we can basically just don't then this image the blown away by the source workflow number 2 is how correction make that useful can we actually put it like a weather map into we do something like dump it on into an editing tool and do some of wasn't creation and so on and basically I I took that best big stitch that I had through it into Q GIS in a rectifier you can actually pull up like being maps or whatever on 1 side you're image and the other drop ground control points users due all the work that turns out great another 1 that I played with his map it's an online what I found this sun actually pretty difficult to this image by image CFD 1 image at a time very time consuming but again you can download your warped images afterwards on or show them directly and also and here's an example of downloading and so what I did uh though the workflow the work best for me is actually dump that stuff at a Q JSI 1 big to basically run near black on it to create an alpha channel so it's not nice trans period parents here on the edge Ranjit all the tiles on the command line real quick offers mobile 1 22 so I have all the zoom models and I want from my own the image is this is all pretty small this actually can leverage talk from yesterday which is about trying to host of other stuff and get help for free so a push those tiles that literally the image files the 256 up tiles that whole folder structure of 1 get home and get pages and I get basically little you know in the end points for all the tiles the TMS file scheme so up 1 get up and then I can throw those into a little Wagner and I have a basically now my city of for free has a little the app demo that includes that imagery but the other thing you can do is you can actually is point IDE directly at that that tile scheme as well and that's my image inside the ID editor and then I can go in and I can and all the OpenStreetMap data you know the new parking stuff and you know how they change the street Springer article some were flown over 3 is actually
kind of cool stuff I haven't figured out how to make the section useful for anything at like I haven't actually made a DES summer you know anything that I would use at work but it sure is cool as people so there's 2 workflows for this and there's actually 3 but we can get the 3rd 1 the first one is the is a thing called visual SFM is a completely open-source project was started with this 1 and to be honest I saw the outputs and I was blown away and then I saw the outputs of the eighties often when you even more belong so on basically what it does is it takes the batch of images and so here's like the 200 images slow up it basically the whole concept is that it it's gonna take all of these images and it's gonna look for some features structure inside of each of those images instead try to identify the structure in individual images there's gonna go through like a matching of process were attacking take each of those images and try to match it against the other thing try look for common features and place those images and next to each other that those images know about each other once it can do that it can look for how those images differ things like you know when something is further away it's going to converge but you know uh uh the war because you're seeing it from the side versus straight down and is actually a try to place those images than in three-dimensional space to make it all work out to make it so that those images mean something that those features could exist in match and here you are not on the uh left a connection see why this visual SFM trying to do those feature matches and there's about Croft around the outside but it's smart enough to be able to kind of throw those away around the edges and the 1 on the right you're actually seeing that the top is 1 image the bottom is another intersection those lines are connecting similar features so you can see like the parking striplines at identifying the end of the parking strip and 1 to the other and its matching those up in saying these 2 images are correlated and then in order to you will make that happen it can place them in 3 D space all those little squares are basically the images up in air where it thinks you took them from up where those features converge on the bottom basically generate a sparse point cloud for you on the bottom and that's what you see so you actually start to have some 3 D structure get from that you can actually
generate you through some interpolation a dense point cloud more overlap you have with your pictures and there's a lot of tweaking you can do about how you fly and how you process the stuff of to get better and better surfaces but this is what you get this is a pretty good flight for visual SFM to get a three-dimensional in model of downtown lying I find that fascinating because there's no GPS there's no special tags in the images this is the commodity camera 20 minutes flying over your town and you have a three-dimensional model of the town where you can look at building heights knowledge and phenomenal you can take that and then dump it and other programs you can look at things like MeshLab basically takes the point cloud from others less of them and then you can do things like generate surfaces and mesh lab and then do things like texturing to try to actually take those images of project them back down under the surface to get kind of this video game the 3 D kind of thing going so that was visual SfM mesh land the other 1 is this a self uh uh the softer which is mind-blowing it's on comes in 2 versions 1 is actually really cheap and everything that I've done so far which has no georeferencing no semblance of tying your 3 D model actually to the world of and is pretty cheap so 175 but if you want the 1 that can do the georeferencing scripting all stuff like 3 thousand dollars or something so I have a demo version and just playing with that but anyway this you can see is basically the same thing the cameras are kind of placed up above it does a sparse . com book cloud below so actually looks very similar to what was happening visual us about but the dense point clouds and the texture mapping that can do is mind-blowing and so this is a three-dimensional model of that same street I then kind of a
closer view of it once the texture has been applied and i I have it running here so I'll show you in a minute we can actually stand around and see it but I pretty darn amazing on some more examples this that this
structure from motion stuff is and being used for lots of stuff we happen to be geo people and have quadcopters but you can do it on pretty much anything so this was up here plume another could go sky friend rose is like a test these out news at working at just like to to do with this bar or some camera and I took pictures of this little tiny dollar new area thing as desk and it's amazing even like spin around it looks like a real three-dimensional thing is just from again from a commodity camera the doing 3 metamodelling that picture of my daughter doing uh the flying this is actually the elementary school we had a science data with the kids go fly the quadcopter and we generated 3 D model making like fly into the school basically and see the schools is just fascinating on this is where I live my little farm so you can go and look you can see the bite jumps on the lower left and and all that stuff and then you know we've been trying to start to do some comparisons to so this is actually same dataset between forest individuals of them as far as dense point clouds and you know every time we fly which I'd like to do something different like straight down imagery a little bit of an angle like she would take pictures every 3 seconds to get more overlappers 5 seconds OK should fly high should follow on work on it coming into the sweet spot of of making sure the enough the know overlap on but the batteries on last 10 minutes in wanna get big areas so and it's just fun to play with so the future is
that's kind of the 3rd workflow which we never really got to work yet but there's another thing called Bundler SfM which is basically an attempt to do all this kind of and batch on the command line in a in a way that we could you know think about scaling up servers to throw these images that because you know that that 1 of downtown Langley basically I thought it was in the now this laptop like it sat there for like 8 hours straight at 100 C plus on the CPU just burning on my on my desk and so it would be great if we just like you know my LaRocca servers like you go through this stuff out there and do it's complicated is not really well supported salt a research university type stuff so we haven't really got that working at and the other is to actually do something like 10 this of ground control points and generated DMI property that cool or downtown so they look at building heights and all that kind of stuff on and the other is a 3 printing and that when I actually have an example so automation opamp diems there's actually papers others came from I didn't put the reference so don't tell me but I know that this is from an academic paper or somewhere in there was like 30 meter DMEs in some remote place in Africa and this guy flew over the drawn to be less of them in the 1 on the left is actually this really high resolution TEM that matches amazingly close to the unofficial 13 1 the end of to do local data collection and super cheap for nothing and this is uh Christian that our lived to among the cameras using a legislator I wish he could be here and know the road open there's been this community on time couldn't come out of this time were for movement but I'm he chases shiny objects like faster than I do so as soon as I showed him that I have only like went out and bought 1 the next day of and he's been flying is with a GoPro I and so this is a US still not of use capturing images of this building the other day and this is a point cloud capture and in visual less of them through in the mesh lab trimmed off all the craft you know again you know all the stuff that was around that building they need to go 1 step further they actually through this into a 3 D printing the software for as little 3 D printer yet at home you went to bed he was all excited you look up in the morning me at this I weights again a I it looks like just a pilot do but it's it's phenomenal it is phenomenal that he could for like 600 dollars have a quadcopter a camera blow fly a building and have that on his desk and I can that's a few
of you and you have all the photos in running and and so this is and you know you can space we see the cameras up there but then you can literally drop in and see you know the three-dimensional In view of the town again this is this that is no and inherent GIS unless this is literally taking this commodity 100 dollar camera and throwing it up in the air and taken a much pictures and you can generate these models it's it's mind is the height and I'm from GO KEGG were a nonprofit providing GIS implementation for small communities were doing a pilot project with city of Wood River and we are very interested in these kind of of project and wondering if we could work with you to go and find that the sum of the candidates to the replicate what you did with your community with some other small communities absolutely my reversal yeah that link in their gung-ho with GAO so it's there would be an easy sell to you and if you want a vacation and Hood River with the blowed the do at become we were a good I'm not gonna photogrammetry background so done lots of orthorectification have you seen orthorectification options that you tried and didn't work words you haven't found 1 yet pretty much you guys know as much as I know not
literally like that I this is all I've done so I haven't tested really any other packages there's lots of other options as far as stitching you know taking individual images in q GIS and in do it you know using gene all this do the stitching and stuff like that being smarter about the stitching using other software to do searching and this is just all I've done so I would love to try more and more stuff Wachovia selection of this airframe versus the 3 D Robotics staff or something that she the I mean if I had to convince my wife that it was OK if from here by that I mean it's it's uh I'm especially for like companies and stuff it's like good lord it's disposable and for a normal person open-source upper developer in 3 4 500 bonds is totally doable and again you know that same the Phantom a couple years ago was a couple thousand bucks and they just came out with a new 1 that is a couple thousand dollars and drove the price of this 1 down the line I mean it's it's a no-brainer is super cheap but I I I do know some people that have the other makes and models and use saw like the guy from google that the backpack with the other 1 that when he's got the full strap-on goggles for the 1st person view and I say going that's way too much I just want something cheap and easy and fun that I can do with my kids and go map my local community and I I I I really enjoy you say you are playing the when I say that to my professor I am playing with things like that she gets mad at you but actually I would like to know you what kind of flat planet use flight plan instead you have I well so I mean these these things truly are a remote controlled hobby things not a fully autonomous drones right so I don't actually pretty is not like a sense if I were you can preview the tracks a newsletter go and you go have a coffee in for lands itself this 1 you got fly in so I tried to mn is purely based on but how the urinary wanna do and how many batteries you have in-house how much of the area you can cover so I literally go down and you know i've only done Langley a couple of times and you go to stand at 1 end like like I think I can get with 3 seconds a shot going about that speed I can get down and back change battering down and back again and that's my I mean there's nothing scientific about it then I can recommend the fact flight planner program produces is open source and you can plan borrowers so you can get market of your batteries I would all look it up and the the the the site do you have 1 or do you work for them right OK just to throw in that I think you'll possibly slightly ahead of the U. K. 's national mapping agency in this and the and the 1st time they took ledger never stuck in a tree I didn't actually managed may indeed prop God's Fisher and the when the we can try flag a nervous inside that may be out there who need to have everyone knows that over the heads of everyone and of 1 a shameless plug opened at this time on 10 30 from attempt to put together on the tools and all the rest so the wondering what the alarm uh Woody seen you talked about texture-mapping talk to a point clouds and mentation race officers Bundler can be assumed yes that's a toolchain the visual assess SFM pieces together would it but is it on the point cloud so things that you've seen the difference or on the a UV mapping nor with the glided at a it's hard to say because you know a little bit more about the vigilance of them is going like in the hands of the US has a family and even the the thing is the simple like workflow you find the photos you build a dense cloud you build a matching build actually just like pretzels buttons and drink coffee and get the 3 hunger so it's hard to say which part along that way is really needed to heat the Garcia on left up to last year but but I like looking at what they call the spars cloud and what I call the sparse crowd in visual SFM they look actually fairly comparable and the dense cloud looks really good with there's and there's a lot of big holes in and the 1 that the visual that but again I'm not tweaking any parameters whatsoever and visualize event so there's a good chance is completely operator error and but it's really hard isn't very little documentation as far as how to do so but like I asked of Gustav achieved because he uses this kind of stuff a lot more than I fossil thanks 1 here the have I live in a pretty small forgiving communities and no 1 really gets upset when I the and with all the software is it is a using a GPS information from the image itself or not that so there is the camera has no GPS at all and these 3 D models are just floating in 3 D space they're not actually tied to the planet in anyway both visual SFM and and then these are photos concept stuff have that capability that it's the really expensive version of photos scanned and its there's other tool like plug in the afternoon stall with visual found that I haven't been able yet installed correctly to do that but you can do ground control points astart Kenya surfaces to something real and generate the yams and there's papers and videos out there people doing that I haven't done that there is a GPS in the phantom but it's purely used to assist in the flight of the aircraft and thing make that make the phone analysis Kuwaiti quicker to know which was the site of the yes which we should do we should we should strap on a 200 dollar camera as GPS system the 1 and only thing that there's a town in Colorado it's passed and on in situ can shoot down a groom have they have you considering any kind offensive techniques give you have all drunk thing is kind of silly mean that people get all worked up about it it's no different than final remote control you know whatever but i is steadily happened the I tend to have a low profile were and I go out at 6 in the morning when no 1 else is down there and I fly at I leaving known as as yeah the the AE you're welcome to come up and all that dropped over and we can see I'm more than happy to take it out there which I fired up not running thank you
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Metadaten

Formale Metadaten

Titel Quadcopter GIS for less than 700 - Hardware and software to map your local community
Serientitel FOSS4G 2014 Portland
Autor Racicot, Aaron
Lizenz CC-Namensnennung 3.0 Deutschland:
Sie dürfen das Werk bzw. den Inhalt zu jedem legalen Zweck nutzen, verändern und in unveränderter oder veränderter Form vervielfältigen, verbreiten und öffentlich zugänglich machen, sofern Sie den Namen des Autors/Rechteinhabers in der von ihm festgelegten Weise nennen.
DOI 10.5446/31720
Herausgeber FOSS4G, Open Source Geospatial Foundation (OSGeo)
Erscheinungsjahr 2014
Sprache Englisch
Produzent Foss4G
Open Source Geospatial Foundation (OSGeo)
Produktionsjahr 2014
Produktionsort Portland, Oregon, United States of America

Inhaltliche Metadaten

Fachgebiet Informatik
Abstract Quadcopter - Phantom FC40 (500). Camera - Canon PowerShot ELPH 130 IS 16.0 MP (110). Opportunity to engage your local community to produce open data - priceless.Let's get to the point. Let's talk about hardware and software to get out there and actually map some stuff with a quadcopter. This is the story of my adventures hacking with a Phantom quadcopter over the last 10 months to make local maps... and of course have fun. The only rules... it has to be cheap and the software has to be open source.We will go through the hardware, including purchasing, setting up, and flying the quadcopter. The camera is hacked with CHDK and strapped on the quadcopter with some velcro to a vibration dampener cut up with a dremel tool. The processing software is a pain to install, but we will talk through it including software options, how to get your processing off loaded to your video card GPU, and how we as a community can make all this easier in the future. Finally, we will look at what you can actually make... including mosaics, 3d models, and DEM's of your local community.Quadcopters are cheap, fun, and amazing for engaging your local community to produce open data. Let's do it!
Schlagwörter quadcopter
civic
hacking
drone
sfm

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